#include "type.h"
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"



void filter_init(void);
void vFilterTask(void *pvParameters);
float kalman_filter_calculate(double acc_angle, double gyro_rate, int looptime);
void update_filter(void);



